center: [0.45, 0.0, 0.0]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:

- object_id: active_perception/omni_objects/flower/flower_pot_023
  xyz: [-0.014566381461918354, 0.0026734061539173126, 0.13491244614124298]
  rpy: [85.649015926639, 3.5663797228800194, -44.96225661858854]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_047
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  rpy: [0.21321908111535803, 0.2517933642746531, -89.92725519907984]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_028
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  rpy: [5.17281662883146e-06, -2.125035546011935e-05, 145.06740259602046]
  scale: 1.0

- object_id: active_perception/omni_objects/banana/banana_044
  xyz: [-0.024567481130361557, -0.015394643880426884, 0.11640952527523041]
  rpy: [134.29081647595285, -65.91934001084697, -25.260829807392966]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [-0.012324175797402859, 0.010652253404259682, -439.369873046875]
  rpy: [1.0564908025401e-06, -1.6601999779597997e-06, -90.00000482967253]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_042
  xyz: [0.02596854418516159, -0.014225030317902565, 0.0926491841673851]
  rpy: [-17.293034227241936, -44.058503247448215, -102.14374480174929]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_040
  xyz: [-0.007693031802773476, -0.017864730209112167, -420.9942321777344]
  rpy: [3.961840891191937e-07, -3.9618406367475625e-07, -89.99999517032741]
  scale: 1.0

- object_id: active_perception/omni_objects/peanut/peanut_030
  xyz: [-0.013441702350974083, 0.00784082617610693, 0.0867835134267807]
  rpy: [118.72976700789165, -35.84369047869475, -128.87546860532225]
  scale: 1.0